Model submission for Emesent Hovermap sensor config 1 by Emesent

[RowanRama]

Model submission for Emesent Hovermap sensor config 1

[osrf-jenkins]

Build finished. No test results found.

[osrf-jenkins]

Build finished. No test results found.

[PeterQFR]

@PeterQFR

[acschang]

The initial assessment of the Emesent Hovermap model is complete however there are some issues to resolve before this model can be merged and utilized in a competitive setting:

• Please resolve the noted issues in the package's CMakelist.txt.
• Please provide documentation for the gimbals used on the vehicle and verify the maximum rate of rotation on the gimbal meets the specifications.
• Please resolve the missing air pressure, magnetic field, and gimbal IMU data by applying the changes listed in the vehicle_topics.launch file.
• Please update sensor parameters as requested by the comments in the model.sdf file.
• Please provide validation data for your model. The validation data is necessary to complete the evaluation. If not provided, the model's maximum velocity will be limited to 4m/s and battery life set to 10min. When the model validation data can be provided later, please submit a PR updating the model.

Please address the issues noted above in this pull request. Once the above issues are fixed, your submission will move onto the next review stage!

[acschang]

To have gimbal IMU data publish, you'll need to add the following:

        <node
            pkg="ros_ign_bridge"
            type="parameter_bridge"
            name="ros_ign_bridge_imu"
            args="$(arg camera_prefix)/sensor/gimbal_imu/imu@sensor_msgs/Imu[ignition.msgs.IMU">
            <remap from="$(arg camera_prefix)/sensor/gimbal_imu/imu" to="imu/data"/>
        </node>

[PeterQFR]

The intent is not to output the gimbal imu. The gimbal controller plugin is the only thing to consume this sensor. It provides its own interface which is the same that we use for gimbal control. Ie the gimbal controller does all stabilisation internally (BASECAM Gimbal Controller) and exposes interfaces for providing command velocities

[PeterQFR]

okay, but outputted to gimba/imu/data

[nkoenig]

Bounding box [0.89127 0.900767 0.400468]

[angelacmaio]

@RowanRama can you please address the requested changes/comments?

[PeterQFR]

I've addressed the details above. How do you want the gimbal specifications treated. There is no published data and would only be available from a demonstration as it is a customised controller, using the BaseCAM gimbal controller which can be configured in many ways.

@acschang We are currently putting together the model validation data and videos and are happy to submit them in a separate PR .. do you want this data submitted through git?

Also just with the aircraft validation data, do you want open loop performance or do you want performance as limited by the hovermap (autonomy) control loops.
I was going to ensure the aircraft model is tuned to the closed loop specfications

[acschang]

I've addressed the details above. How do you want the gimbal specifications treated. There is no published data and would only be available from a demonstration as it is a customised controller, using the BaseCAM gimbal controller which can be configured in many ways.

@acschang We are currently putting together the model validation data and videos and are happy to submit them in a separate PR .. do you want this data submitted through git?

Also just with the aircraft validation data, do you want open loop performance or do you want performance as limited by the hovermap (autonomy) control loops.
I was going to ensure the aircraft model is tuned to the closed loop specfications

If there are no published specifications for the gimbal available, please set the limits to reflect the typical limits used. We would prefer to make the gimbal IMU data stream available for reference. Specifically, the gimbal on the LIDAR seems to be capable of rotating faster expected.

Validation data should be submitted through DARPA Box as outlined in the Model Preparation Guide and noted as such in the specifications.md file.

For validation data collection, we recommend using a position or velocity controller but not full closed-loop autonomy. The validation data align with the limitations of the airframe/low-level control as opposed to the high-level control of hovermap autonomy.

[PeterQFR]

@acschang @nkoenig : Model has been updated to match validation data. Validation data has been uploaded to the Box Repo

[acschang]

Completed in #892